Update many posts

content/article/furutani04_nanom_cuttin_machin_using_stewar.md

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+title = "Nanometre-cutting machine using a stewart-platform parallel mechanism"
+author = ["Thomas Dehaeze"]
+draft = false
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+
+Tags
+: [Stewart Platforms]({{< relref "stewart_platforms" >}}), [Flexible Joints]({{< relref "flexible_joints" >}})
+
+Reference
+: <sup id="bedab298599c84f60236313ebaad2714"><a class="reference-link" href="#furutani04_nanom_cuttin_machin_using_stewar" title="Katsushi Furutani, Michio Suzuki \&amp; Ryusei Kudoh, Nanometre-Cutting Machine Using a Stewart-Platform Parallel  Mechanism, {Measurement Science and Technology}, v(2), 467-474 (2004).">(Katsushi Furutani {\it et al.}, 2004)</a></sup>
+
+Author(s)
+: Furutani, K., Suzuki, M., & Kudoh, R.
+
+Year
+: 2004
+
+-   Lever mechanism to amplify the motion of piezoelectric stack actuators
+-   Use of flexure joints
+-   Eddy current displacement sensors for control (decentralized)
+
+{{< figure src="/ox-hugo/furutani04_ctrl_arch.png" >}}
+
+-   Isotropic performance (cubic configuration even if not said so)
+
+Possible sources of error:
+
+-   position error of the link ends in assembly => simulation of position error and it is not significant
+-   Inaccurate modelling of the links
+-   insufficient generative force
+-   unwanted deformation of the links
+
+To minimize the errors, a calibration is done between the required leg length and the wanted platform pose.
+Then, it is fitted with 4th order polynomial and included in the control architecture.
+
+# Bibliography
+<a class="bibtex-entry" id="furutani04_nanom_cuttin_machin_using_stewar">Furutani, K., Suzuki, M., & Kudoh, R., *Nanometre-cutting machine using a stewart-platform parallel mechanism*, Measurement Science and Technology, *15(2)*, 467–474 (2004).  http://dx.doi.org/10.1088/0957-0233/15/2/022</a> [↩](#bedab298599c84f60236313ebaad2714)